U.S. patent number 8,453,768 [Application Number 11/691,903] was granted by the patent office on 2013-06-04 for control of a transporter based on attitude.
This patent grant is currently assigned to DEKA Products Limited Partnership. The grantee listed for this patent is Robert R. Ambrogi, Richard Kurt Heinzmann, Dean Kamen. Invention is credited to Robert R. Ambrogi, Richard Kurt Heinzmann, Dean Kamen.
United States Patent |
8,453,768 |
Kamen , et al. |
June 4, 2013 |
Control of a transporter based on attitude
Abstract
A transporter for transporting a load over a surface. The
transporter includes a support platform for supporting the load.
The support platform is characterized by a fore-aft axis, a lateral
axis, and an orientation with respect to the surface, the
orientation referred to as an attitude. At least one
ground-contacting element is flexibly coupled to the support
platform in such a manner that the attitude of the support platform
is capable of variation. One or more ground-contacting elements are
driven by a motorized drive arrangement. A sensor module generates
a signal characterizing the attitude of the support platform. Based
on the attitude, a controller commands the motorized drive
arrangement.
Inventors: |
Kamen; Dean (Bedford, NH),
Heinzmann; Richard Kurt (Francestown, NH), Ambrogi; Robert
R. (Manchester, NH) |
Applicant: |
Name |
City |
State |
Country |
Type |
Kamen; Dean
Heinzmann; Richard Kurt
Ambrogi; Robert R. |
Bedford
Francestown
Manchester |
NH
NH
NH |
US
US
US |
|
|
Assignee: |
DEKA Products Limited
Partnership (Manchester, NH)
|
Family
ID: |
30115896 |
Appl.
No.: |
11/691,903 |
Filed: |
March 27, 2007 |
Prior Publication Data
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Document
Identifier |
Publication Date |
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US 20070187166 A1 |
Aug 16, 2007 |
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Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
Issue Date |
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10617598 |
Jul 11, 2003 |
7210544 |
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60395589 |
Jul 12, 2002 |
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Current U.S.
Class: |
180/7.1;
280/5.502; 280/5.513; 180/21; 180/218; 180/282 |
Current CPC
Class: |
B60G
17/019 (20130101); B62K 11/007 (20161101); B62D
51/02 (20130101); B60G 11/14 (20130101); B60K
26/02 (20130101); B62D 51/001 (20130101); B60L
15/20 (20130101); B62D 51/002 (20130101); B62K
11/00 (20130101); Y02T 10/72 (20130101); B60G
2400/05 (20130101); B60G 2400/82 (20130101); Y02T
10/7258 (20130101) |
Current International
Class: |
B62D
57/00 (20060101); B60G 17/00 (20060101); B62D
61/00 (20060101) |
Field of
Search: |
;180/7.1,21,218,271,282
;280/5.502,5.513 |
References Cited
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Primary Examiner: Hurley; Kevin
Assistant Examiner: Scharich; Marc A
Attorney, Agent or Firm: McCormick, Paulding & Huber
LLP
Parent Case Text
CROSS REFERENCE TO RELATED APPLICATIONS
This application is a continuation of co-pending U.S. patent
application Ser. No. 10/617,598, filed Jul. 11, 2003, which claims
priority from U.S. provisional patent application Ser. No.
60/395,589, filed Jul. 12, 2002, both of which applications are
hereby incorporated by reference herein in their entirety.
Claims
What is claimed is:
1. A transporter for transporting a load over a surface, the
transporter comprising: a support platform for supporting the load,
the support platform characterized by a fore-aft axis and a lateral
axis; at least one ground-contacting element coupled to the support
platform in such a manner that the orientation of the support
platform with respect to the surface beneath and in contact with
the at least one ground-contacting elements is capable of
variation, the orientation referred to as an attitude; a motorized
drive arrangement for driving the at least one ground-contacting
elements; a sensor module for generating a signal characterizing
the attitude of the support platform; and a controller for
commanding the motorized drive arrangement to apply a torque to one
or more of the ground-contacting elements as a function of the
attitude of the support platform based upon the signal generated by
the sensor module.
2. The transporter according to claim 1, wherein one or more
ground-contacting elements are flexibly coupled to the support
platform in such a manner that the attitude of the support platform
is capable of variation based on a position of a center of mass of
the load relative to the at least one ground-contacting
element.
3. The transporter according to claim 1, further including a first
component that remains in a substantially fixed vertical position
relative to the surface, wherein one or more ground contacting
elements include a wheel having an axle, and the first component is
fixed relative to the axle and wherein the sensor module senses the
distance between a fiducial point on the platform and the first
component.
4. The transporter according to claim 3, wherein one or more ground
contacting elements include a wheel supported by a frame, and the
first component is fixed relative to the frame.
5. The transporter according to claim 1, wherein the attitude of
the support platform is capable of variation based at least on a
signal generated by a remote control device.
6. The transporter according to claim 5, further including a
powered strut coupled to the platform, the powered strut capable of
varying the attitude of the support platform based at least on the
signal generated by the remote control device.
7. The transporter according to claim 1, further comprising a user
interface, wherein the attitude of the support platform is capable
of variation based on a signal generated by the user interface.
8. The transporter according to claim 1, wherein the controller
commands motion in the fore-aft plane.
9. The transporter according to claim 1, wherein the controller
commands motion in the lateral plane.
10. A method for controlling a transporter having a support
platform for supporting a load, the support platform characterized
by an attitude with respect to a surface beneath the transporter,
the transporter including at least one ground contacting elements
flexibly coupled to the support platform in such a manner that the
attitude of the platform is capable of variation, the transporter
further including a motorized drive arrangement for driving the at
least one ground contacting element, the method comprising:
generating a signal characterizing an attitude of the support
platform; and commanding the motorized drive arrangement to apply a
torque to one or more of the ground-contacting elements as a
function of the attitude based upon the signal.
11. A method according to claim 10, wherein generating the signal
includes measuring a distance between a fiducial point on the
platform and a position on the surface disposed at a specified
angle.
12. A method according to claim 10, wherein generating the signal
includes measuring the distance between a fiducial point on the
platform and a component on the transporter that remains in a
substantially fixed position relative to the surface.
13. A method according to claim 10, further comprising altering the
attitude of the support platform by changing a position of a
center-of-mass of the load relative to the at least one ground
contacting element.
14. A method according to claim 10, further comprising altering the
attitude of the support platform based at least on a signal
generated by a user interface of the transporter.
15. A method according to claim 10, further comprising altering the
attitude of the support platform based at least on a signal
generated by a remote control device.
Description
TECHNICAL FIELD
The present invention pertains to transporters and methods for
transporting a load, which may be a living subject, and more
particularly to controlling motion of a transporter.
BACKGROUND ART
A wide range of vehicles having a motorized drive arrangement are
known for conveying various subjects, either for purposive
locomotion or for recreational purposes. The means used to command
the motorized drive arrangement of these vehicles varies greatly.
For example, an operator may manipulate an accelerator pedal to
control forward motion of an automobile, while steering is
typically performed using a steering wheel. Or the motion of a
sporting vehicle may be controlled by rocking a foot board upon
which a user is balanced towards the front or rear to mechanically
move a throttle cable, as described in U.S. Pat. No. 4,790,548
(Francken). Based on the operator's physical attributes for
example, or the transporter's intended functionality, alternative
methods for controlling motion of a transporter may be
desirable.
SUMMARY OF THE INVENTION
In a first embodiment of the invention there is provided a
transporter for transporting a load over a surface. The transporter
includes a support platform for supporting the load. The support
platform is characterized by a fore-aft axis, a lateral axis, and
an orientation with respect to the surface, the orientation
referred to as an attitude. At least one ground-contacting element,
which is driven by a motorized drive arrangement, is coupled to the
support platform in such a manner that the attitude of the support
platform is capable of variation. A sensor module generates a
signal characterizing the attitude of the support platform. Based
on the attitude, a controller commands the motorized drive
arrangement.
In accordance with related embodiments of the invention, one or
more ground-contacting elements may be flexibly coupled to the
support platform in such a manner that the attitude of the support
platform is capable of variation based on a position of a center of
mass of the load relative to the at least one ground-contacting
element.
The sensor module may include at least one distance sensor for
measuring a distance characteristic of the attitude of the
platform. The distance sensor may be selected from the group of
distance sensors consisting of an ultrasonic distance sensor, an
acoustic distance sensor, a radar distance sensor, optical distance
sensor, and a contact sensor, such as a whisker(s). The at least
one distance sensor may sense the distance between a fiducial point
on the platform and a position on the surface disposed at a
specified angle with respect to the support platform. In other
embodiments, the transporter may include a first component that
remains in a substantially fixed vertical position relative to the
surface, wherein the at least one distance sensor senses the
distance between a fiducial point on the platform and the first
component. One or more ground contacting elements may include a
wheel having an axle, and the first component is fixed relative to
the axle. Alternatively, and not meant to be limiting, one or more
ground contacting elements may include a wheel supported by a
frame, and the first component is fixed relative to the frame.
In accordance with other related embodiments of the invention, the
attitude of the support platform is capable of variation based at
least on a signal generated by a remote control device. The
transporter may include a powered strut coupled to the platform,
the powered strut capable of varying the attitude of the support
platform based at least on the signal generated by the remote
control device. The transporter may further include a user
interface, wherein the attitude of the support platform is capable
of variation based on a signal generated by the user interface. The
controller may command motion of the transporter in the fore-aft
plane and/or the lateral plane.
In accordance with another embodiment of the invention, a method
for controlling a transporter having a support platform for
supporting a load is presented. The support platform is
characterized by an attitude with respect to the surface. The
transporter includes at least one ground contacting elements
flexibly coupled to the support platform in such a manner that the
attitude of the platform is capable of variation. The transporter
also includes a motorized drive arrangement for driving the at
least one ground contacting elements. The method includes
generating a signal characterizing an attitude of the support
platform. The motorized drive arrangement is commanded based at
least on the attitude.
BRIEF DESCRIPTION OF THE DRAWINGS
The foregoing features of the invention will be more readily
understood by reference to the following detailed description,
taken with reference to the accompanying drawings, in which:
FIG. 1 depicts one embodiment of a human transporter, lacking a
distinct user input device, to which the present invention may
advantageously be applied;
FIG. 2 is a side view of a transporter, in accordance with one
embodiment of the invention;
FIG. 3 is an expanded side view of a transporter, in accordance
with one embodiment of the invention;
FIG. 4 is a side view of a transporter, in accordance with one
embodiment of the invention; and
FIG. 5 is a block diagram of a controller of a transporter, in
accordance with one embodiment of the invention.
DETAILED DESCRIPTION OF SPECIFIC EMBODIMENTS
In accordance with one embodiment of the invention, FIG. 1 shows a
transporter, 1 lacking a distinct input device, to which the
present invention may advantageously be applied. Transporter 1 is
described in detail in U.S. Pat. No. 6,302,230, which is
incorporated herein by reference in its entirety. Transporter 1
includes a support platform 11 for supporting a load, which may be
a living subject 9, over the ground or other surface, such as a
floor, which may be referred to herein generally as "ground". A
subject, for example, may stand or sit on support platform 11.
Attached to support platform 11 may be a handlebar 12 that can be
gripped when riding transporter 1.
One or more ground-contacting elements 2, 7 provide contact between
support platform 11 and the ground. Ground-contacting elements 2, 7
may include, but are not limited to, arcuate members, tracks,
treads, and wheels (hereinafter the term "wheel" will be used in
the specification to refer to any such ground-contacting element
without limitation). While the transporter 1 depicted in FIG. 1
lacks stability in its operating position unless subject to
controlled balancing, the application of the present invention is
specifically not limited to transporters of that sort and
embodiments of the present invention may advantageously be applied
to statically stable transporters as well.
Support platform 11 may be flexibly coupled to the wheels 2, 7 by
various means known in the art, for example, a pivot mechanism,
springs, or pneumatic pistons. In other embodiments, the wheels 2,
7 may have some compliance and serve the function of a spring. For
purposes of the present description, platform 11 may be
characterized by a fore-aft axis, a lateral axis, and an
orientation with respect to the surface, which is referred to
herein as an attitude. The fore-aft axis, X-X, is perpendicular to
the wheel axis, while the lateral axis, Y-Y, is parallel to the
axis of the wheels. Directions parallel to the axes X-X and Y-Y are
called the fore-aft and lateral directions respectively.
Referring now to FIG. 2, which shows a transporter 10 in accordance
with one embodiment of the invention, the attitude of support
platform 11 may, for example, be capable of variation based on a
position of a center of mass of the load relative to one or more
wheels 13, 14. Alternatively, transporter 10 may include a power
strut or other mechanism capable of altering the attitude of the
support platform 11. The power strut may be controlled by a user
interface located on transporter 10, such as a joystick or a
rotatable potentiometer located on handlebar 12. In other
embodiments, the power strut may also be controlled by a remote
control device, such as, but not limited to, an infrared or radio
controlled remote control device.
The motion of transporter 10 is based, at least in part, on the
attitude of the support platform 11. To determine the attitude of
the support platform 11, transporter 10 includes a sensor module.
Sensor module may include at least one distance sensor 17, 18 for
measuring a distance characteristic of the attitude of the support
platform 11. The distance measured may be, for example, the
distance between a fiducial point on the support platform 11 and a
surface 19, or alternatively, another component on transporter 10.
A plurality of distances measured by the sensor module may be
combined to generate at least one signal characteristic of the
platform attitude.
Attitude/distance sensor may be one of many sensor types, such as,
for example, an ultrasonic, optical, acoustic or radar sensor
wherein a signal generated by a source is reflected back by a
surface to a sensor receiver. The distance from the sensor to the
surface can then be calculated based on the time (or phase)
difference between when the signal was generated and when the
reflected signal was received. Triangulation may be performed. In
other embodiments, distance sensor can be a contact sensor(s) such
as, without limitation, a whisker(s). For example, a plurality of
whiskers, each having a predetermined length may be utilized, with
distance determined based on which whisker bends or is otherwise
activated when making contact with the surface. A single whisker
may be utilized with distance determined based, at least on part,
on the bending angle of the whisker.
Referring to FIG. 2, distance sensors 17, 18 sense the distance
between a fiducial point on the platform and a position on the
surface that is disposed at a specified angle 3, 4, with respect to
the support platform. First distance sensor 17 is located at the
front (fore) of platform 11 and senses a first distance 5 between
platform 11 and surface 19. Second distance sensor 17 is located at
the back (aft) of platform 11 and senses a second distance 6
between platform 11 and surface 19. By comparing distances 5 and 6,
a signal indicative of an attitude of the platform 11, and more
specifically, the inclination of the platform 11 in the fore-aft
plane with respect to the surface 19, can be determined.
In another embodiment, at least one distance sensor 22 may sense
the distance between a fiducial point on the transporter platform
11 and a first component 23 that remains in a substantially fixed
vertical position relative to the surface 19, as shown in the
expanded view of a transporter in FIG. 3. First component 23 may
be, for example, a wheel axle 23 or a frame used to support the at
least one wheel 14. In various embodiments, first component 23 may
include a reflector for reflecting the signal generated by distance
sensor 22.
FIG. 4 shows a transporter 60 that includes a first support
platform 69 and a second support platform 61, in accordance with
one embodiment of the invention. At least one wheel 63 and 64
provides contact between the first support platform 69 and the
ground. Second support platform 61 is coupled to the first support
platform 69 such that the second support platform 61 can tilt in
the fore-aft plane based, for example, on a position of a center of
mass of the loaded second support platform 61. Second support
platform 61 may be tiltably attached to the first support platform
69 using, without limitation, springs 65 and 66 and/or a pivot
mechanism 68. Similar to above-described embodiments, based on the
tilting of the second support platform 61, at least one sensor 67
and 70 generates a signal indicative of the attitude of the second
support platform 61. Attached to the first support platform 69 or
second support platform 61 may be a handlebar 62 that can be
gripped while operating the transporter 60.
A controller receives the signal characteristic of the attitude
from the sensor module. Based at least on this signal, the
controller implements a control algorithm to command a motorized
drive arrangement so as to drive the at least one wheel. The
controller may also respond to commands from other operator
interfaces, such as a joystick or dial attached, for example, to
handlebar.
FIG. 5 shows a controller 30 for controlling the motorized drive of
the transporter, in accordance with one embodiment of the
invention. Controller 30 receives an input characteristic of
platform attitude from sensor module 34. Based at least on the
input from the sensor module, controller 30 commands at least one
motorized drive 35, 36. Controller 30 also interfaces with a user
interface 31 and a wheel rotation sensor 33. User interface 31 may
include, among other things, controls for turning the controller 30
on or off. When the controller 30 is turned off, the at least one
wheel of the transporter may be free to move, such that the
transporter acts as a typical push scooter. User interface 31 may
also control a locking mechanism 32 for locking the at least one
wheel.
The controller 30 includes a control algorithm to determine the
amount of torque to be applied to the at least one wheel based on
the sensed attitude of the support platform. The control algorithm
may be configured either in design of the system or in real time,
on the basis of current operating mode and operating conditions as
well as preferences of the user. Controller may implement the
control algorithm by using a control loop. The operation of control
loops is well known in the art of electromechanical engineering and
is outlined, for example, in Fraser & Milne, Electro-Mechanical
Engineering, IEEE Press (1994), particularly in Chapter 11,
"Principles of Continuous Control" which is incorporated herein by
reference.
As an example, and not meant to be limiting, the control algorithm
may take the form: Torque Command to Wheel=K[.theta.+O]
where K=gain, .theta.=support platform attitude, and O=offset.
The support platform attitude, .theta., may be in the form of an
error term defined as the desired support platform attitude minus
the measured support platform attitude. The gain, K, may be a
predetermined constant, or may be entered/adjusted by the operator
through user interface 31. Responsiveness of the transporter to
attitude changes can be governed by K. For example, if K is
increased, a rider will perceive a stiffer response in that a small
change in platform attitude will result in a large torque command.
Offset, O, may be incorporated into the control algorithm to govern
the torque applied to the motorized drive, either in addition to,
or separate from, the direct effect of .theta.. Thus, for example,
the user may provide an input by means of a user interface of any
sort, the input being treated by the control system equivalently to
a change, for example, in platform attitude.
Thus, referring back to FIG. 2, motion of the transporter 10 may be
controlled by a subject changing the attitude of the platform 11.
This change in attitude is reflected by distances 5, 6 sensed by
the sensor module. Depending on the control algorithm, an initial
change in attitude, such that first distance 5 is less than second
distance 6, may result in positive torque being applied to one or
more wheels 23, 24, causing the wheels 23, 24 to move forward.
Likewise, an initial change in the attitude, such that first
distance 5 is greater than second distance 6 may result in a
negative torque applied to one or more wheels 23, 24, causing the
wheels 23, 24 to move in the aft direction. If the subject then
remains in his changed position on the platform such that the
platform attitude remains the same, the motor will continue to
torque at approximately the same rate.
In various embodiments of the invention, the sensor module may
sense changes in platform attitude in addition to, or instead of
inclination of support platform in the fore-aft plane. For example,
sensor module may provide an attitude signal indicative of
inclination of the support platform in the lateral plane relative
to the surface. This may be accomplished by the use of two
laterally disposed distance sensors. Changes in the angle of
inclination of the support platform in the lateral plane can then
be used either separately or in combination with other attitude
changes to control motion of the transporter. For example, changes
in the angle of inclination in the fore-aft plane can be used to
control fore-aft motion, while changes in the angle of inclination
in the lateral plane can be used to control steering of the
transporter.
Steering may be accomplished, in an embodiment having at least two
laterally disposed wheels (i.e., a left and and right wheel), by
providing separate motors for left and right wheels. Torque desired
for the left motor and the torque desired from the right motor can
be calculated separately. Additionally, tracking both the left
wheel motion and the right wheel motion permits adjustments to be
made, as known to persons of ordinary skill in the control arts, to
prevent unwanted turning of the vehicle and to account for
performance variations between the two motors.
The described embodiments of the invention are intended to be
merely exemplary and numerous variations and modifications will be
apparent to those skilled in the art. All such variations and
modifications are intended to be within the scope of the present
invention as defined in the appended claims.
* * * * *
References